robokudo.io.ros_camera_without_depth_interface
==============================================

.. py:module:: robokudo.io.ros_camera_without_depth_interface

.. autoapi-nested-parse::

   ROS camera interface for RGB-only cameras in RoboKudo.

   This module provides an interface for ROS cameras that only provide RGB images
   without depth information. It supports:

   * Synchronized RGB image and camera info subscription
   * Image rotation with intrinsics adjustment
   * Transform lookup between camera and world frames
   * Thread-safe data handling

   The module is used for cameras like:

   * Hand cameras on robotic arms
   * Standard USB cameras with ROS drivers
   * Network cameras with ROS interfaces



Classes
-------

.. autoapisummary::

   robokudo.io.ros_camera_without_depth_interface.ROSCameraWithoutDepthInterface


Module Contents
---------------

.. py:class:: ROSCameraWithoutDepthInterface(camera_config: typing_extensions.Any)

   Bases: :py:obj:`robokudo.io.camera_interface.ROSCameraInterface`


   A ROS camera interface for RGB-only cameras.

   This class handles cameras that provide only RGB images without depth data.
   It synchronizes RGB images with camera calibration information and supports
   image rotation with proper intrinsics adjustment.


   .. py:attribute:: color_subscriber
      :type:  message_filters.Subscriber

      Subscriber for RGB image topic



   .. py:attribute:: cam_info_subscriber
      :type:  message_filters.Subscriber

      Subscriber for camera info topic



   .. py:attribute:: color
      :type:  typing_extensions.Optional[typing_extensions.Tuple[numpy.typing.NDArray]]
      :value: None


      Latest RGB image data



   .. py:attribute:: cam_info
      :type:  typing_extensions.Optional[sensor_msgs.msg.CameraInfo]
      :value: None


      Latest camera calibration info



   .. py:attribute:: cam_intrinsic
      :type:  typing_extensions.Optional[open3d.camera.PinholeCameraIntrinsic]
      :value: None


      Camera intrinsic parameters in Open3D format



   .. py:attribute:: color2depth_ratio
      :type:  typing_extensions.Optional[typing_extensions.Tuple[float, float]]
      :value: (1.0, 1.0)


      Always (1.0, 1.0) since no depth data



   .. py:attribute:: cam_translation
      :type:  typing_extensions.Optional[typing_extensions.List[float]]
      :value: None


      Camera translation from TF



   .. py:attribute:: cam_quaternion
      :type:  typing_extensions.Optional[typing_extensions.List[float]]
      :value: None


      Camera rotation as quaternion from TF



   .. py:attribute:: timestamp
      :type:  typing_extensions.Optional[float]
      :value: None


      Timestamp of latest data



   .. py:attribute:: lock
      :type:  threading.Lock

      Thread synchronization lock



   .. py:attribute:: bridge
      :type:  cv_bridge.CvBridge

      Bridge for converting between ROS and OpenCV images



   .. py:method:: rotate_camera_intrinsics(K: numpy.typing.NDArray, image_size: typing_extensions.Tuple[int, int], rotation: str = '90_ccw') -> typing_extensions.Tuple[numpy.typing.NDArray, typing_extensions.Tuple[int, int]]

      Adjust camera intrinsics matrix for image rotation.

      Computes the new camera intrinsics matrix and image dimensions after
      applying a rotation to the image. Supports 90° counter-clockwise,
      90° clockwise, and 180° rotations.

      :param K: Original camera intrinsic matrix of shape (3, 3)
      :param image_size: Original image dimensions as (width, height)
      :param rotation: '90_ccw', '90_cw', '180' (default is 90° counter-clockwise)
      :return: Tuple of (new intrinsics matrix, new image dimensions)
      :raises ValueError: If rotation type is not supported



   .. py:method:: rotate_image_and_intrinsics(img: numpy.typing.NDArray, K: numpy.typing.NDArray, rotation: str = '90_ccw') -> typing_extensions.Tuple[numpy.typing.NDArray, numpy.typing.NDArray, typing_extensions.Tuple[int, int]]

      Rotate an image and adjust its camera intrinsics accordingly.

      :param img: Input image to rotate
      :param K: Camera intrinsics matrix
      :param rotation: Type of rotation to apply, defaults to '90_ccw'
      :return: Tuple of (rotated image, new intrinsics matrix, new dimensions)
      :raises ValueError: If rotation type is not supported



   .. py:method:: callback(color_data: sensor_msgs.msg.Image, cam_info: typing_extensions.Optional[sensor_msgs.msg.CameraInfo] = None) -> None

      Process synchronized RGB image and camera info messages.

      TODO make this generic. handle the encoding and order properly.
      For standard and compressed images.
      this might also depend on the fix of image_transport_plugins being published as a package.
      Startpoint can be found at the bottom of this method.

      :param color_data: RGB image message
      :param cam_info: Camera calibration info message, defaults to None



   .. py:method:: set_data(cas: CAS) -> None

      Update the Common Analysis Structure with latest camera data.

      This method:
      * Applies any configured image rotation
      * Updates camera intrinsics accordingly
      * Sets RGB image, camera info, and transform data in the CAS
      * Handles thread synchronization

      :param cas: Common Analysis Structure to update